Physica A 387 (2008) 5770

Synchronization of chaotic fractional-order systems via active

sliding mode controller
Mohammad Saleh Tavazoei, Mohammad Haeri

Advanced Control System Laboratory, Electrical Engineering Department, Sharif University of Technology, Tehran, Iran
Received 28 October 2006; received in revised form 21 April 2007
Available online 6 September 2007
Abstract
In this paper, we propose a controller based on active sliding mode theory to synchronize chaotic fractional-order
systems in masterslave structure. Master and slave systems may be identical or different. Based on stability theorems in
the fractional calculus, analysis of stability is performed for the proposed method. Finally, three numerical simulations
(synchronizing fractional-order Lu Lu systems, synchronizing fractional order ChenChen systems and synchronizing
fractional-order Lu Chen systems) are presented to show the effectiveness of the proposed controller. The simulations are
implemented using two different numerical methods to solve the fractional differential equations.
r 2007 Elsevier B.V. All rights reserved.
Keywords: Chaos synchronization; Chaotic fractional-order systems; Active sliding mode controller
1. Introduction
This is an apparent paradox from which, one day, useful consequences will be drawn. These words are
Leibnizs response to LHopital letter in which he had asked Leibniz about meaning of derivative of order one-
half. Primarily, fractional calculus was born with this letter dated in 30th September 1695 [1]. Even though
fractional calculus is a mathematical topic with more than 300 years old history, its application to physics and
engineering has been attracted lots of attention only in the recent years. It has been found that in
interdisciplinary elds, many systems can be described by fractional differential equations. For example:
fractional derivatives have been widely used in mathematical modeling of viscoelastic materials [24]. Some
electromagnetic problems can be described by using fractional differ-integration [5,6]. In physical chemistry,
the current is proportional to the fractional derivative of the voltage when the fractal interface is put between a
metal and an ionic medium [7]. In the fractional capacitor theory, if one of the capacitor electrodes has a
rough surface, the current passing through it is proportional to the non-integer derivative of its voltage [8].
Also, the existing memory in dielectrics used in capacitors is justied by fractional derivative based models [9].
The anomalous diffusion phenomena in inhomogeneous media can be explained by non-integer derivative
based equations of diffusion [10,11]. The electrodeelectrotype interface is a sample of fractional-order
processes because at metalelectrolyte interfaces the impedance is proportional to the non-integer order of
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Corresponding author. Tel.: +98 21 66165964; fax: +98 21 66023261.

E-mail address: haeri@sina.sharif.edu (M. Haeri).
frequency for small angular frequencies [12,13]. Another example for an element with fractional-order model
is the fractance. The fractance is an electrical circuit with non-integer order impedance [14]. This element has
properties lie between resistance and capacitance. Tree fractance [15] and chain fractance [16] are two well-
known examples of fractances. The resistancecapacitanceinductance (RLC) interconnect model of a
transmission line is a fractional-order model [17]. Heat conduction as a dynamical process can be more
adequately modeled by fractional-order models than integer-order models [18]. In biology, it has been deduced
that the membranes of cells of biological organism have fractional-order electrical conductance [19] and then
are classied in group of non-integer order models. Also, it has been shown that modeling the behavior of
brainstem vestibule-oculumotor neurons by fractional-order differential equations has more advantages than
classical integer-order modeling [20]. In mechanics, it has been found that the water ow on a dyke with
porous internal structure is proportional to the fractional derivative of the dynamic pressure at the water/dyke
interface [21]. In economy, it has been known that some nance systems can display fractional order dynamics
[22]. More examples for fractional-order dynamics can be found in Ref. [23]. Moreover, applications of
fractional calculus have been reported in many areas such as signal processing [24], image processing [25],
automatic control [26] and robotics [27,28]. These examples and many other similar samples perfectly clarify
the importance of consideration and analysis of dynamical systems with fractional-order models.
Nowadays, it has been found that some fractional-order differential systems such as the fractional-order
Chua circuit [29], the fractional-order Dufng system [30], the fractional-order jerk model [31], the fractional-
order Chen system [32], the fractional-order Lu system [33], the fractional-order Ro ssler system [34], the
fractional-order Arneodo system [35] and the fractional-order NewtonLeipnik system [36] can demonstrate
chaotic behaviors.
Over the last two decades, since the pioneering work of Ott et al. [37], synchronization of chaotic systems
has become more and more interesting to researchers in different eld. The problem of designing a system,
whose behavior mimics that of another chaotic system, is called synchronization. The two chaotic systems are
generally called drive (master) and response (slave) systems respectively. Recently, synchronization of chaotic
fractional-order systems starts to attract increasing attention due to its potential applications in secure
communication and control processing [38]. For example, in Ref. [39] chaos synchronization of two Lu
systems has been studied. Also, synchronization of two chaotic fractional Chen systems and synchronization
of two chaotic fractional Chua systems have been presented in Refs. [40,41], respectively.
In this paper, our aim is to synchronize two chaotic fractional-order systems, which can be identical or non-
identical. To achieve this goal, we have used active sliding mode controller. The active sliding mode control
technique is a discontinuous control strategy that relies on two stages of design. The rst stage is to select an
appropriate active controller to facilitate the design of the sequent sliding mode controller. The second stage is
to design a sliding mode controller to achieve the synchronization.
This paper is organized as follows. In Section 2, basic denitions in fractional calculus are presented. This
section also includes explanation about two existing methods of approximated solution of fractional
differential equations. Based on the active sliding mode control theory, a controller is proposed to synchronize
identical and non-identical chaotic fractional-order systems in Section 3. The section comprises of two main
parts: design of the controller and analysis of the stability. Numerical simulations results are given in Section 4
to illustrate the effectiveness of the proposed controller. Conclusions in Section 5 close the paper.
2. Fractional derivative and its approximation methods
2.1. Denitions
The differintegral operator, denoted by
a
D
q
t
, is a combined differentiation-integration operator commonly
used in fractional calculus. This operator is a notation for taking both the fractional derivative and the
fractional integral in a single expression and is dened by
a
D
q
t

d
q
dt
q
; q40
1; q 0
_
t
a
dt
q
; qo0
_

_
. (1)
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M.S. Tavazoei, M. Haeri / Physica A 387 (2008) 5770 58
There are some denitions for fractional derivatives [42]. The commonly used denitions are
GrunwaldLetnikov, RiemannLiouville, and Caputo denitions. The GrunwaldLetnikov denition is
given by
a
D
q
t
f t
d
q
f t
dt a
q
lim
N!1
t a
N
_ _
q
N1
j0
1
j
q
j
_ _
f t j
t a
N
_ _ _ _
. 2
The RiemannLiouville denition is the simplest and easiest denition to use. This denition is given by
a
D
q
t
f t
d
q
f t
dt a
q

1
Gn q
d
n
dt
n
_
t
0
t t
nq1
f t dt, 3
where n is the rst integer which is not less than q, i.e., n1pqon and G is the Gamma function.
Gz
_
1
0
t
z1
e
t
dt. (4)
For functions f(t) having n continuous derivatives for tX0 where n1pqon, the GrunwaldLetnikov and
the RiemannLiouville denitions are equivalent. The Laplace transforms of the RiemannLiouville
fractional integral and derivative are given as follows:
Lf
0
D
q
t
f tg s
q
Fs qp0, (5)
Lf
0
D
q
t
f tg s
q
Fs

n1
k0
s
k
0
D
qk1
t
f 0 n 1oqpn 2 N. (6)
Unfortunately, the RiemannLiouville fractional derivative appears unsuitable to be treated by the Laplace
transform technique in that it requires the knowledge of the non-integer order derivatives of the function at
t 0. This problem does not exist in the Caputo denition that is sometimes referred as smooth fractional
derivative in literature. This denition of derivative is dened by
0
D
q
t
f t
1
Gm q
_
t
0
f
m
t
t t
q1m
dt; m 1oqom
d
m
dt
m
f t; q m
_

_
, (7)
where m is the rst integer larger than q. It is found that the equations with RiemannLiouville operators are
equivalent to those with Caputo operators by homogeneous initial conditions assumption [42]. The Laplace
transform of the Caputo fractional derivative is
Lf
0
D
q
t
f tg s
q
Fs

n1
k0
s
q1k
f
k
0
n 1oqpn 2 N. 8
Contrary to the Laplace transform of the RiemannLiouville fractional derivative, only integer order
derivatives of function f are appeared in the Laplace transform of the Caputo fractional derivative. For zero
initial conditions, Eq. (8) reduces to
Lf
0
D
q
t
f tg s
q
Fs. (9)
In the rest of this paper, the notation
0
D
q
t
indicates the Caputo fractional derivative.
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2.2. Solution approximation methods
The numerical simulation of a fractional differential equation is not simple as that of an ordinary
differential equation. In the literatures of fractional chaos eld, two approximation methods have been
proposed for numerical solution of a fractional differential equation. The rst method is based on the
approximation of the fractional-order system behavior in the frequency domain. To simulate a fractional
order system by using the frequency domain approximations, the fractional order equations of the system is
rst considered in the frequency domain and then Laplace form of the fractional integral operator is replaced
by its integer order approximation. Then the approximated equations in frequency domain are transformed
back into the time domain. The resulted ordinary differential equations can be numerically solved by applying
the well-known numerical methods.
In Ref. [43], an algorithm has been proposed to calculate linear transfer function approximations of 1/s
q
based on Bode diagram. For understanding the frequency domain behavior of a system, the Bode diagram is a
fundamental tool. In the Bode magnitude diagram, the magnitude of a system is plotted against frequency.
Usually, this diagram is shown on log-log graph sheet so that a wide range of frequencies and amplitude levels
can be shown. Also, the amplitude is typically expressed in decibels (dB) where each 20 dB increment
represents a factor of 10 in amplitude ratio. 1/s
q
has a Bode magnitude diagram characterized by slope of
20q dB/decade. This approximation is based on approximating the 20q dB/decade line by a number of
zigzag lines connected together with alternate slops of 0 and 20q dB/decade. According to this method, we
can obtain a linear approximation of the fractional-order integrator with any desired accuracy over any
frequency band. The order of this linear approximation system depends on the desired bandwidth and
accuracy. In Table 1 of Ref. [31], approximations of 1/s
q
have been given for q 2 f0:1; 0:2; . . . ; 0:9g with
maximum discrepancy of 2 dB within o 10
2
10
2
rad/s frequency range. For example, the approximation of
1/s
0.9
is given in the mentioned table by
1
s
0:9
%
2:2675s 1:292s 215:4
s 0:01292s 2:154s 395:4
.
Fig. 1 shows Bode magnitude diagram of the exact and approximated systems.
The other algorithm to nd an approximation for fractional-order systems is based on the
predictorcorrectors scheme [44,45]. This method is an improved version of AdamsBashforthMoulton
algorithm [4547]. Consider the following differential equation:
0
D
q
t
yt rt; yt; 0ptpT and y
k
0 y
k
0
; k 0; 1; . . . ; m 1. (10)
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Fig. 1. Bode magnitude diagram for the approximate system of 1/s
0.9
.
M.S. Tavazoei, M. Haeri / Physica A 387 (2008) 5770 60
This differential equation is equivalent to Volterra integral equation [48]:
yt

q d e1
k0
y
k
0
t
k
k!

1
Gq
_
t
0
t s
q1
rs; ys ds. (11)
Now, set h T=N, t
n
nh (n 0, 1, y, N). Then Eq. (11) can be discretized as follows:
y
h
t
n1

q d e1
k0
y
k
0
t
k
n1
k!

h
q
Gq 2
rt
n1
; y
p
h
t
n1

h
q
Gq 2

n
j0
a
j;n1
rt
j
; y
h
t
j
, (12)
where predicted value y
p
h
t
n1
is determined by
y
p
h
t
n1

q d e1
k0
y
k
0
t
k
n1
k!

1
Gq

n
j0
b
j;n1
rt
j
; y
h
t
j

and,
a
j;n1

n
q1
n qn 1
q
; j 0
n j 2
q1
n j
q1
2n j 1
q1
; 1pjpn
1; j n 1
_

_
b
j;n1

h
q
q
n 1 j
q
n j
q
.
The estimation error of this approximation is described as follows:
max
j0;1;...;N
yt
j
y
h
t
j

Oh
p
, (13)
where p min(2, 1+q). Numerical solution of a fractional-order system can be determined by applying the
mentioned method. Consider the following fractional-order system:
d
q
1
x
dt
q
1
f
1
x; y; z
d
q
2
y
dt
q
2
f
2
x; y; z
d
q
3
z
dt
q
3
f
3
x; y; z
_

_
; 0oq
i
p1; i 1; 2; 3, (14)
with initial condition (x
0
, y
0
, z
0
). The above system can be discretized as follows:
x
n1
x
0

h
q
1
Gq
1
2
f
1
x
p
n1
; y
p
n1
; z
p
n1

n
j0
a
1;j;n1
f
1
x
j
; y
j
; z
j

_ _
y
n1
y
0

h
q
2
Gq
2
2
f
2
x
p
n1
; y
p
n1
; z
p
n1

n
j0
a
2;j;n1
f
2
x
j
; y
j
; z
j

_ _
z
n1
z
0

h
q
3
Gq
3
2
f
3
x
p
n1
; y
p
n1
; z
p
n1

n
j0
a
3;j;n1
f
1
x
j
; y
j
; z
j

_ _
_

_
, (15)
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where,
x
p
n1
x
0

1
Gq
1

n
j0
b
1;j;n1
f
1
x
j
; y
j
; z
j

y
p
n1
y
0

1
Gq
2

n
j0
b
2;j;n1
f
2
x
j
; y
j
; z
j

z
p
n1
z
0

1
Gq
3

n
j0
b
3;j;n1
f
3
x
j
; y
j
; z
j

_
,
a
i;j;n1

n
q
i
1
n q
i
n 1
q
i
; j 0
n j 2
q
i
1
n j
q
i
1
2n j 1
q
i
1
; 1pjpn
1; j n 1
_

_
,
and
b
i;j;n1

h
q
i
q
i
n 1 j
q
i
n j
q
i
.
In the simulations of this paper, we use both methods (the frequency domain method and the
predictorcorrectors scheme based method) to solve the fractional-order differential equations.
3. Active sliding mode controller design and analysis
The design procedure of the active sliding mode controller that is a combination of the active controller and
the sliding mode controller is given rst and then the problem of the stability is discussed for the proposed
method.
3.1. Active sliding mode controller design
Consider a chaotic fractional-order system of order q (0oqo1) described by the following nonlinear
fractional-order differential equation:
0
D
q
t
x
1
A
1
x
1
g
1
x
1
, (16)
where x
1
t 2 R
3
denotes the systems 3-dimensional state vector, A
1
2 R
33
represents the linear part of the
system dynamics and g
1
:R
3
-R
3
is the nonlinear part of the system. Eq. (16) represents the master system. The
controller ut 2 R
3
is added into the slave system, so it is given by
0
D
q
t
x
2
A
2
x
2
g
2
x
2
ut, (17)
where x
2
t 2 R
3
is the slave systems 3-dimensional state vector, A
2
2 R
33
and g
2
: R
3
! R
3
imply the same
roles as A
1
and g
1
for the master system.
Synchronization of the systems means nding a control signal ut 2 R
3
that makes states of the slave system
to evolve as the states of the master system. To achieve the goal we dene the synchronization errors dynamics
as follows:
0
D
q
t
e A
2
x
2
g
2
x
2
A
1
x
1
g
1
x
1
ut
Ae Gx
1
; x
2
ut, 18
where e x
2
x
1
and Gx
1
; x
2
g
2
x
2
g
1
x
1
A
2
A
1
x
1
. To simplify the notations, the linear part of
the slave system is represented by matrix A (i.e. A A
2
). The aim is to design the controller ut 2 R
3
such
that:
lim
t!1
et
_
_
_
_
0. (19)
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In accordance with the active control design procedure [4951], the nonlinear part of the error dynamics is
eliminated by the following choice of the input vector:
ut Ht Gx
1
; x
2
. (20)
The error system (18) is then rewritten as
0
D
q
t
e Ae Ht. (21)
Eq. (21) describes the error dynamics with a newly dened control input H(t). In active sliding mode
control, H(t) is designed based on a sliding mode control law:
Ht Kwt, (22)
where K k
1
; k
2
; k
3

T
is a constant gain vector and wt 2 R is the control input that satises:
wt
w

t seX0
w

t seo0
_
, (23)
in which s s(e) is a switching surface that prescribes the desired dynamics. The resulting error dynamics is
then:
0
D
q
t
e Ae Kwt. (24)
In what follows, the appropriate sliding mode controller will be designed according to the sliding mode
control theory [5257].
3.2. Sliding surface design
The sliding surface can be dened as follows:
se Ce, (25)
where C c
1
; c
2
; c
3
is a constant vector. The equivalent control is found by the fact that _ se 0 is a
necessary condition for the state trajectory to stay on the switching surface s(e) 0. Hence, when in sliding
mode, the controlled system satises the following conditions:
se 0 and _ se 0. (26)
Based on Eqs. (24)(26), one can deduce the following result:
_ se
qse
qe
_ e
qse
qe
0
D
1q
t

0
D
q
t
e C
0
D
1q
t
Ae Kwt 0, (27)
hence,
0
D
1q
t
wt CK
1
CA
0
D
1q
t
et. (28)
The equivalent control w
eq
t is a solution of Eq. (28):
w
eq
t CK
1
CAet, (29)
which is realizable whenever CK assumes non-zero value. Replacing for w(t) in Eq. (24) from w
eq
t of Eq. (29),
the error dynamics on the sliding surface are determined by the following relation:
0
D
q
t
e I KCK
1
CAe. (30)
3.3. Design of the sliding mode controller
We consider the constant plus proportional rate reaching law in our study [5257]. Then the reaching law is
chosen as
0
D
q
t
s psgns rs, (31)
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where sgn(.) denotes the sign function. The gains p40 and r40 are determined such that the sliding condition
is satised and the sliding mode motion occurs.
From Eqs. (24) and (25), one can nd that:
0
D
q
t
s C
0
D
q
t
e CAe Kwt. (32)
Now, from Eqs. (31) and (32), the control input is determined as
wt CK
1
CrI Ae p sgns. (33)
3.4. Stability analysis
Commensurate fractional order differential equations are, at least, as stable as their integer order
counterpart, because systems with memory are typically more stable than their memoryless counterpart [58].
Now, we state two stability theorems from the fractional calculus.
Theorem 1 (Matignon [38]). The following autonomous system:
0
D
q
t
x Ax; x0 x
0
, (34)
where 0oqo1, xAR
n
and AAR
n n
, is asymptotically stable iff |arg(eig)A)|4qp/2. In this case, each component
of the states decays towards 0 like t
q
. Also, this system is stable iff |arg(eig)A)|Xqp/2 and those critical
eigenvalues that satisfy |arg(eig)A)| qp/2 have geometric multiplicity one.
According to Theorem 1 , as long as all eigenvalues of A KCK
1
CrI A (l
i
s i 1,2,3) satisfy the
condition j argl
i
j4qp=2, the system dened by Eq. (30) is asymptotically stable.
Theorem 2 (Matignon [38]). Consider a system given by the following linear state space form with inner
dimension n:
0
D
q
t
x Ax Bu
y Cx
_
; x0 x
0
, (35)
where 0oqo1, xAR
n
, yAR
p
and AAR
n n
. Also, assume that the triplet (A, B, C) is minimal. System (35) is
bounded-input bounded-output stable iff |arg(eig)A)|4qp/2. When system (35) is externally stable, each
component of its impulse response behaves like t
1q
at innity.
Theorem 2 signies the main difference between ordinary and fractional-order differential systems i.e. in
linear fractional-order systems stabilities are not of exponential type. In a fractional-order differential system,
when all the eigenvalues are located outside the sector dened by jyjpqp=2, the initial condition response
decays like t
q
whereas the impulse response decays like t
1q
(Fig. 2). This behavior does not occur in
ordinary differential systems [38].
Eq. (31) implies that dynamic of the sliding surface s is linear with bounded input (p for sX0 and p for
so0), hence, according to Theorem 2 , the sliding surface s is bounded. The error dynamics can be obtained
using Eq. (33) in Eq. (24).
0
D
q
t
e A KCK
1
CrI Ae KCK
1
p sgns. (36)
As a linear fractional-order system with bounded input (KCK
1
p for sX0 and KCK
1
p for so0), the
error system is stable if
j argeigA KCK
1
CrI Aj4qp=2. (37)
In this case, the error system is asymptotically stable when p 0. The error signals will not converge to zero
if p60. Parameter p can be used to enhance the robustness of the controller in the presence of noise and
mismatches.
Now, we show that one of the eigenvalues of matrix A KCK
1
CrI A is always r and therefore it
satises condition (37) . We know that the eigenvalues of matrix KCK
1
C are {0,0,1} . This means that the
eigenvalues of matrix I KCK
1
C are {1,1,0} . Then, rankI KCK
1
CrI Ao3 and one of the
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M.S. Tavazoei, M. Haeri / Physica A 387 (2008) 5770 64
eigenvalues of I KCK
1
CrI A is always 0. Thus,
9v 2 R
31
: I KCK
1
CrI Av 0 ) A KCK
1
CrI Av rv.
Therefore, one of the eigenvalues of matrix A KCK
1
CrI A is always r. It can be shown that the
two other eigenvalues are independent from r and determined by the other control parameters (K and C).
These two eigenvalues must satisfy condition (37).
4. Numerical simulations
4.1. Simulation 1: synchronization between two fractional-order Lu systems
The Lu system [59] is a new chaotic system, found by Lu and Chen, which is known as a bridge between the
Lorenz [60] and the Chen [61] systems and represents the transition from one to the other. It has been shown
that the fractional-order Lu system can demonstrate chaotic behavior like the Lu system [33]. Consider the
fractional-order Lu system described as follows:
0
D
q
t
x ry x
0
D
q
t
y xz uy
0
D
q
t
z xy mz
_

_
. (38)
Now, we apply the active sliding mode control approach to synchronize two fractional-order Lu systems
with the following initial conditions: x
10
; y
10
; z
10
1; 4; 10 and x
20
; y
20
; z
20
0; 3; 9. In this case,
dynamic matrix A is given as
A
r r 0
0 u 0
0 0 m
_

_
_

_.
Assume that order of the master and slave systems is 2:7 (q 0.9) and system parameters are
r; m; u 35; 3; 28. The controller parameters are chosen as K 0:009528; 0:01428; 0:009518
T
,
C 1; 1; 1, r 25 and p 0.35. This selection of parameters results in eigenvalues l
1
; l
2
; l
3

25; 25:8 11:8i; 25:8 11:8i that are located in the stable region.
The numerical simulation has carried out using MATLAB subroutines written based on the second method
described in Section 2. The time step size employed in the simulation is 0.001 (h 0.001). The simulation
results are given in Fig. 3. As one can see, the designed controller was effectively able to synchronize two
fractional-order Lu systems.
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Fig. 2. Stability region of a linear fractional-order system with order q.
M.S. Tavazoei, M. Haeri / Physica A 387 (2008) 5770 65
4.2. Simulation 2: synchronization between two fractional-order Chen systems
The Chen system was introduced by Chen and Ueta in 1999 [61]. Some researchers ([32,62], and [63]) have
investigated chaotic behavior of the fractional-order Chen system that is described by:
0
D
q
t
x ay x
0
D
q
t
y c ax xz cy
0
D
q
t
z xy bz
_

_
. (39)
We want to synchronize two fractional-order Chen systems using active sliding mode controller. The initial
conditions of master and slave systems are x
10
; y
10
; z
10
1; 1; 1 and x
20
; y
20
; z
20
3; 6; 9. For this
system matrix A is
A
a a 0
c a c 0
0 0 b
_

_
_

_.
We applied the active sliding mode control to synchronize two fractional-order Chen systems in the
following two cases: Case 1: order of chaotic systems is 2.85 (q 0.95) and (a, b, c) (40, 3, 28); Case 2: order
of chaotic systems is 2.7 (q 0.9) and (a, b, c) (35, 3, 28).
Numerical simulations have carried out using the SIMULINK based on the frequency domain
approximation. To solve the sets of differential equations related to the master and slave systems, the ode5
(Dormand-Prince) solver with xed step size 0:0001 has been used. We have chosen the controller parameters
as K 2 6 2, C 1; 1; 1, r 5 and p 0.2. This selection of parameters results in stable
eigenvalues for the error dynamics.
Case 1: [l
1
, l
2
, l
3
] [59.75, 6.92, 5]
Case 2: [l
1
, l
2
, l
3
] [51.91, 8.09, 5]
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Fig. 3. Results of simulation 1.
M.S. Tavazoei, M. Haeri / Physica A 387 (2008) 5770 66
Fig. 4 shows simulation results of Case 1. In this case, active sliding mode control has been applied at time
t 0.6. Simulation results of Case 2 are given in Fig. 5. Active sliding mode control has been applied at time
t 1 in this case.
4.3. Simulation 3: synchronization between fractional-order Chen and Lu systems
We have applied the active sliding mode control approach to synchronize fractional-order Chen and
fractional-order Lu systems. In this case, we assume that the Chen system drives the Lu system. Hence, master
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Fig. 4. Results of simulation 2 (Case 1).
Fig. 5. Results of simulation 2 (Case 2).
M.S. Tavazoei, M. Haeri / Physica A 387 (2008) 5770 67
and slave systems are dened as follows:
Master system :
0
D
0:9
t
x
1
35y
1
x
1

0
D
0:9
t
y
1
x
1
z
1
28y
1
; x
10
; y
10
; z
10
7; 4; 4:
0
D
0:9
t
z
1
x
1
y
1
3z
1
_

_
(40)
Slave system :
0
D
0:9
t
x
2
35y
2
x
2

0
D
0:9
t
y
2
7x
2
x
2
z
2
28y
2
0
D
0:9
t
z
2
x
2
y
2
3z
2
_

_
; x
20
; y
20
; z
20
1; 3; 1. (41)
The control parameters are chosen as K 2 6 2 , C 1; 1; 1, r 5 and p 0.3. This selection
of parameters results in eigenvalues [l
1
, l
2
, l
3
] [51.91, 8.09, 5] for error dynamics.
The numerical simulation has carried out using MATLAB subroutines written based on predictorcorrec-
tors method. The time step size employed in this simulation is 0.001 (h 0.001). The simulation results are
shown in Fig. 6.
5. Conclusions
In this paper we have studied basic concepts and numerical methods in fractional calculus. Then, we have
proposed the active sliding mode controller to synchronize identical and non-identical chaotic fractional-order
systems. Furthermore, analysis of stability has been provided for the proposed controller. It has been shown
that by proper choice of the control parameters (r, K and C), the master and slave systems are synchronized.
The sliding mode nature of the controller enhances the robustness of the controller. Trading off between the
robustness and the performance is performed by manipulating the parameter p. Numerical simulations show
the efciency of the proposed controller to synchronize chaotic fractional-order systems.
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Fig. 6. Results of simulation 3.
M.S. Tavazoei, M. Haeri / Physica A 387 (2008) 5770 68
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